Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 819 of 909
Z letter
command
Status word
and bits
Description
Za Word 0, bit 4 Reset hardware current limit error/fault
Ze Word 0, bit 6 Reset position fault
Zh Word 0, bit 5 Reset temperature fault
Zl Word 0, bit 13 Reset historical left limit fault
Zr Word 0, bit 12 Reset historical right limit fault
Zls Word 1, bit 13 Reset historical left software limit fault
Zrs Word 1, bit 12 Reset historical right software limit fault
Zv Word 0, bit 7 Reset velocity fault
Zs Word 2, bit 14 Reset user command syntax error
Zw Word 3, bit 3 Reset wraparound
- Word 0, bit 9 Reset dE/dt limit fault
- Word 0, bit 3 Reset bus voltage fault
- Word 1, bit 2 Reset rising edge capture on internal encoder
- Word 1, bit 3 Reset falling edge capture on internal encoder
- Word 1, bit 6 Reset rising edge capture on external encoder
- Word 1, bit 7 Reset falling edge capture on external encoder
- Word 2, bit 0 Reset COM 0 errors and bits in RCHN(0)
- Word 2, bit 1 Reset COM 1 errors and bits in RCHN(1)
Word 2, bit 4 Reset CAN errors and associated error bits in RCAN
- Word 6, bit 14 Reset high bus flag
- Word 6, bit 13 Reset low bus flag
- Word 3, bit 11 Reset modulo rollover flag
- Word 6, bit 7 Reset drive enable fault
NOTE: In cases where the motor has gone beyond the EL(error limit) but the
trajectory generator is still active with the previously calculated trajectory, the
ZScommand may not clear the Be bit. If you are unable to reset Be with the ZS
command, issue an OFF command before issuing the ZScommand, which clears
the current commanded trajectory and allows the reset to complete.
EXAMPLE:
ZS 'Reset error and limit flag latches
Part 2: Commands: ZS

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English